struct mola::SMGeoReferencingParams

Overview

#include <simplemap_georeference.h>

struct SMGeoReferencingParams
{
    // fields

    std::optional<mrpt::topography::TGeodeticCoords> geodeticReference;
    unsigned int minimumGNSSFixQuality = 0;
    AddGNSSFactorParams fgParams;
    bool useIMUGravityAlignment = true;
    AddIMUGravityFactorParams imuGravityParams;
    bool useIMUAttitudeAlignment = true;
    AddIMUAttitudeFactorParams imuAttitudeParams;
    mrpt::system::COutputLogger* logger = nullptr;
};

Fields

std::optional<mrpt::topography::TGeodeticCoords> geodeticReference

If provided, this will be the coordinates of the ENU frame origin. Otherwise (default), the first GNSS entry will become the reference.

unsigned int minimumGNSSFixQuality = 0

If non-zero, GNSS frames whose NMEA GGA fix quality is below this threshold will be discarded (e.g. 1=GPS, 2=DGPS, 4=RTK fixed, 5=RTK float). Default (0) disables the filter, keeping all valid frames.

bool useIMUGravityAlignment = true

If true, use IMU acceleration data found in the simplemap to add gravity-alignment constraints (MeasuredGravityFactor) to the optimization. This helps in cases with poor Z data in GPS.

bool useIMUAttitudeAlignment = true

If true, use IMU absolute-orientation data (e.g. quaternion fields filled in by an onboard AHRS) found in the simplemap to add full attitude constraints (Pose3RotationFactor) to the optimization. Unlike gravity-only alignment, this also observes azimuth (yaw), so it can remove the need for GNSS to solve for it.